Modelling and optimal control of seesaw-cart electromechanical system

Kroz ovaj rad opisano modeliranje i način upravljanja elektromehaničkog sustava kolica na klackalici. Najprije su opisani mehanički dijelovi sustava te korištena električna oprema. Zatim je izveden dinamički model sustava primjenom odgovarajućih jednadžbi te je prikazan u prostoru stanja. Provedena je sinteza LQR regulatora s integralnim djelovanjem te izvršena i objašnjena simulacija korištenjem programskog paketa Matlab. Nakon provedene simulacije izvršena je implementacija razvijenih algoritama i eksperimentalno testiranje istih na stvarnom fizičkom sustavu kolica na klackalici.In the following thesis is described modelling and control method of seesaw-cart electromechanical system. Mechanical parts and electrical equipment are firstly described. A dynamical model of the system is created with the application of the appropriate equations and it is shown in the state space representation. Synthesis of the LQR regulator with integral action is conducted and the simulation of the system is executed using Matlab. Programing will be executed and the experimental results will be shown by conducted instalation of seesaw-cart system